Gal A. Kaminka: Publications

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Multi-Robot Area Patrol under Frequency Constraints

Yehuda Elmaliach, Noa Agmon, and Gal A. Kaminka. Multi-Robot Area Patrol under Frequency Constraints. In Proceedings of IEEE International Conference on Robotics and Automation (ICRA-07), 2007.

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Abstract

This paper discusses the problem of generating patrol paths for ateam of mobile robots inside a designated target area. Patrollingrequires an area to be visited repeatedly by the robot(s) in orderto monitor its current state. First, we present frequencyoptimization criteria used for evaluation of patrol algorithms. Wethen present a patrol algorithm that guarantees maximal uniformfrequency, i.e., each point in the target area is covered at thesame optimal frequency. This solution is based on finding a circularpath that visits all points in the area, while taking into accountterrain directionality and velocity constraints. Robots arepositioned uniformly along this path, using a second algorithm.Moreover, the solution is guaranteed to be robust in the sense thatuniform frequency of the patrol is achieved as long as at least onerobot works properly.

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BibTeX

@InProceedings{icra07yehuda,
  author = 	 {Yehuda Elmaliach and Noa Agmon and Gal A. Kaminka},
  title = 	 {Multi-Robot Area Patrol under Frequency Constraints},
  OPTcrossref =  {},
  OPTkey = 	 {},
  booktitle = ICRA-07,
  OPTpages = 	 {In press},
  year = 	 {2007},
  abstract = {This paper discusses the problem of generating patrol paths for a
team of mobile robots inside a designated target area. Patrolling
requires an area to be visited repeatedly by the robot(s) in order
to monitor its current state. First, we present frequency
optimization criteria used for evaluation of patrol algorithms. We
then present a patrol algorithm that guarantees maximal uniform
frequency, i.e., each point in the target area is covered at the
same optimal frequency. This solution is based on finding a circular
path that visits all points in the area, while taking into account
terrain directionality and velocity constraints. Robots are
positioned uniformly along this path, using a second algorithm.
Moreover, the solution is guaranteed to be robust in the sense that
uniform frequency of the patrol is achieved as long as at least one
robot works properly.},
  wwwnote = {},
  OPTeditor = 	 {},
  OPTvolume = 	 {},
  OPTnumber = 	 {},
  OPTseries = 	 {},
  OPTaddress = 	 {},
  OPTmonth = 	 {},
  OPTorganization = {},
  OPTpublisher = {},
  OPTannote = 	 {}
}

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